deeplake 0.3.25 → 0.3.27

package/dist/node/node/formats/coco.js

@@ -1,4 +1,36 @@
 "use strict";
+/**
+ * COCO (Common Objects in Context) detection/captions format normalizer.
+ *
+ * Reads a COCO dataset directory and yields column-oriented batches
+ * suitable for `ManagedClient.ingest()`.  Works with both train and val splits.
+ *
+ * Expected directory layout:
+ *
+ *     coco_root/
+ *     ├── train2017/          (or val2017/)
+ *     │   ├── 000000000009.jpg
+ *     │   └── ...
+ *     └── annotations/
+ *         ├── instances_train2017.json
+ *         └── captions_train2017.json    [optional]
+ *
+ * Columns produced per image (one row per image):
+ *
+ *   coco_image_id  - COCO image ID (int)
+ *   image          - Source image file bytes (IMAGE)
+ *   mask           - Segmentation mask PNG (SEGMENT_MASK)
+ *   width          - Image width in pixels
+ *   height         - Image height in pixels
+ *   filename       - Original image filename
+ *   captions       - JSON-encoded list of caption strings
+ *   annotations    - JSON-encoded list of annotation dicts
+ *   categories     - JSON-encoded category list (same for all rows)
+ *   num_objects    - Number of object annotations for this image
+ *
+ * No external dependencies — uses built-in Node.js `zlib` for PNG encoding
+ * and a pure JS scanline polygon rasterizer for mask rendering.
+ */
 var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
     if (k2 === undefined) k2 = k;
     var desc = Object.getOwnPropertyDescriptor(m, k);
@@ -37,6 +69,7 @@ exports.Coco = void 0;
 const fs = __importStar(require("fs"));
 const path = __importStar(require("path"));
 const zlib = __importStar(require("zlib"));
+// ---- Format class ----
 class Coco {
     imagesDir;
     batchSize;
@@ -49,13 +82,17 @@ class Coco {
         this.imagesDir = options.imagesDir;
         this.batchSize = options.batchSize ?? 100;
         this.maxImages = options.maxImages ?? null;
+        // Detect split name from directory (e.g. "train2017", "val2017")
         this._split = path.basename(this.imagesDir);
+        // Annotations directory
         this._annDir =
             options.annotationsDir ??
                 path.join(path.dirname(this.imagesDir), 'annotations');
+        // Instances JSON
         this._instancesJson =
             options.instancesJson ??
                 path.join(this._annDir, `instances_${this._split}.json`);
+        // Captions JSON
         if (options.captionsJson === false) {
             this._captionsJson = null;
         }
@@ -91,6 +128,7 @@ class Coco {
         }
         const instances = JSON.parse(fs.readFileSync(this._instancesJson, 'utf-8'));
         const categoriesJson = JSON.stringify(instances.categories ?? []);
+        // Build lookup: image_id -> list of annotation dicts
         const annsByImage = new Map();
         for (const ann of instances.annotations ?? []) {
             let list = annsByImage.get(ann.image_id);
@@ -100,6 +138,7 @@ class Coco {
             }
             list.push(ann);
         }
+        // Load captions if available
         const capsByImage = new Map();
         if (this._captionsJson && fs.existsSync(this._captionsJson)) {
             const captionsData = JSON.parse(fs.readFileSync(this._captionsJson, 'utf-8'));
@@ -126,6 +165,7 @@ class Coco {
             const imgAnns = annsByImage.get(imageId) ?? [];
             const imgCaps = capsByImage.get(imageId) ?? [];
             const maskPng = renderMask(imgAnns, h, w);
+            // Build simplified annotation dicts for JSON column
             const annDicts = imgAnns.map((a) => ({
                 id: a.id,
                 bbox: a.bbox,
@@ -157,26 +197,40 @@ class Coco {
     }
 }
 exports.Coco = Coco;
+// =====================================================================
+// Mask rendering — pure JS polygon rasterizer + PNG encoder
+// =====================================================================
+/**
+ * Render a combined segmentation mask for one image.
+ * Each pixel is set to the `category_id` of the last annotation covering it.
+ * Background = 0.  Returns PNG bytes as a Buffer.
+ */
 function renderMask(annotations, height, width) {
     if (height === 0 || width === 0) {
         return encodePng(Buffer.alloc(0), 0, 0);
     }
-    const mask = Buffer.alloc(height * width);
+    const mask = Buffer.alloc(height * width); // uint8, zero-filled
     for (const ann of annotations) {
         const seg = ann.segmentation;
         if (!seg)
             continue;
         if (Array.isArray(seg)) {
+            // Polygon format: array of [x1,y1,x2,y2,...] arrays
             for (const poly of seg) {
                 fillPolygon(mask, width, height, poly, ann.category_id);
             }
         }
         else if (seg.counts != null && seg.size != null) {
+            // RLE format
             decodeRleToMask(mask, width, height, seg, ann.category_id);
         }
     }
     return encodePng(mask, width, height);
 }
+/**
+ * Scanline polygon fill.
+ * `coords` is a flat array: [x0, y0, x1, y1, ...].
+ */
 function fillPolygon(mask, width, height, coords, value) {
     const n = Math.floor(coords.length / 2);
     if (n < 3)
@@ -199,12 +253,14 @@ function fillPolygon(mask, width, height, coords, value) {
     for (let y = scanMin; y <= scanMax; y++) {
         nodeX.length = 0;
         const yf = y + 0.5;
+        // Build sorted list of x-intersections for this scanline
         for (let i = 0, j = n - 1; i < n; j = i++) {
             if ((ys[i] <= yf && ys[j] > yf) || (ys[j] <= yf && ys[i] > yf)) {
                 nodeX.push(xs[i] + ((yf - ys[i]) / (ys[j] - ys[i])) * (xs[j] - xs[i]));
             }
         }
         nodeX.sort((a, b) => a - b);
+        // Fill between pairs
         for (let i = 0; i < nodeX.length - 1; i += 2) {
             const xStart = Math.max(0, Math.ceil(nodeX[i]));
             const xEnd = Math.min(width - 1, Math.floor(nodeX[i + 1]));
@@ -215,21 +271,31 @@ function fillPolygon(mask, width, height, coords, value) {
         }
     }
 }
+/**
+ * Decode COCO RLE (Run-Length Encoding) segmentation to mask.
+ *
+ * COCO RLE can be:
+ * - Uncompressed: { counts: number[], size: [h, w] }
+ * - Compressed (string): { counts: string, size: [h, w] }
+ */
 function decodeRleToMask(mask, width, height, rle, value) {
     let counts;
     if (typeof rle.counts === 'string') {
+        // Compressed RLE — decode the string to run lengths
         counts = decodeCompressedRle(rle.counts);
     }
     else {
         counts = rle.counts;
     }
+    // RLE is column-major (Fortran order) in COCO
     const rleH = rle.size[0];
     const rleW = rle.size[1];
     let pixel = 0;
-    let on = false;
+    let on = false; // first run is background (zeros)
     for (const count of counts) {
         if (on) {
             for (let i = 0; i < count; i++) {
+                // Convert column-major index to row-major
                 const col = Math.floor(pixel / rleH);
                 const row = pixel % rleH;
                 if (row < height && col < width) {
@@ -244,6 +310,10 @@ function decodeRleToMask(mask, width, height, rle, value) {
         on = !on;
     }
 }
+/**
+ * Decode COCO compressed RLE string to run-length counts array.
+ * Uses the same encoding as pycocotools maskUtils.
+ */
 function decodeCompressedRle(s) {
     const counts = [];
     let i = 0;
@@ -258,12 +328,14 @@ function decodeCompressedRle(s) {
             shift += 5;
             more = (c & 0x20) !== 0;
         }
+        // Zigzag decode
         if (x & 1) {
             x = -(x >> 1) - 1;
         }
         else {
             x = x >> 1;
         }
+        // Counts are relative after the first
         if (counts.length > 2) {
             x += counts[counts.length - 2];
         }
@@ -271,14 +343,23 @@ function decodeCompressedRle(s) {
     }
     return counts;
 }
+// =====================================================================
+// Minimal PNG encoder (grayscale 8-bit)
+// =====================================================================
+/**
+ * Encode a grayscale 8-bit image as PNG using Node.js built-in zlib.
+ * No external dependencies required.
+ */
 function encodePng(pixels, width, height) {
     if (width === 0 || height === 0) {
+        // Return a valid 0x0 PNG
         return createMinimalPng(0, 0, Buffer.alloc(0));
     }
+    // Build raw scanlines: each row is prefixed with filter byte 0 (None)
     const rawData = Buffer.alloc(height * (1 + width));
     for (let y = 0; y < height; y++) {
         const rowOffset = y * (1 + width);
-        rawData[rowOffset] = 0;
+        rawData[rowOffset] = 0; // filter: None
         pixels.copy(rawData, rowOffset + 1, y * width, (y + 1) * width);
     }
     const compressed = zlib.deflateSync(rawData);
@@ -286,14 +367,15 @@ function encodePng(pixels, width, height) {
 }
 function createMinimalPng(width, height, compressedData) {
     const signature = Buffer.from([137, 80, 78, 71, 13, 10, 26, 10]);
+    // IHDR: width(4) + height(4) + bitDepth(1) + colorType(1) + compression(1) + filter(1) + interlace(1) = 13 bytes
     const ihdrData = Buffer.alloc(13);
     ihdrData.writeUInt32BE(width, 0);
     ihdrData.writeUInt32BE(height, 4);
-    ihdrData[8] = 8;
-    ihdrData[9] = 0;
-    ihdrData[10] = 0;
-    ihdrData[11] = 0;
-    ihdrData[12] = 0;
+    ihdrData[8] = 8; // bit depth
+    ihdrData[9] = 0; // color type: grayscale
+    ihdrData[10] = 0; // compression
+    ihdrData[11] = 0; // filter
+    ihdrData[12] = 0; // interlace
     const ihdr = pngChunk('IHDR', ihdrData);
     const idat = pngChunk('IDAT', compressedData);
     const iend = pngChunk('IEND', Buffer.alloc(0));
@@ -308,6 +390,7 @@ function pngChunk(type, data) {
     crc.writeUInt32BE(crc32(crcData) >>> 0, 0);
     return Buffer.concat([length, typeBuffer, data, crc]);
 }
+// CRC-32 lookup table
 const CRC_TABLE = (() => {
     const table = new Uint32Array(256);
     for (let n = 0; n < 256; n++) {
@@ -331,6 +414,9 @@ function crc32(buf) {
     }
     return crc ^ 0xffffffff;
 }
+// =====================================================================
+// Helpers
+// =====================================================================
 function rowsToBatch(rows) {
     const keys = Object.keys(rows[0]);
     const result = {};

package/dist/node/node/formats/coco.js.map

@@ -1 +1 @@
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package/dist/node/node/formats/coco_panoptic.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"coco_panoptic.d.ts","sourceRoot":"","sources":["../../../../src/node/formats/coco_panoptic.ts"],"names":[],"mappings":"AAEA,OAAO,KAAK,EAAE,KAAK,EAAE,MAAM,EAAE,SAAS,EAAE,MAAM,oBAAoB,CAAC;AAqBnE,MAAM,WAAW,mBAAmB;IAClC,SAAS,EAAE,MAAM,CAAC;IAClB,QAAQ,EAAE,MAAM,CAAC;IACjB,WAAW,EAAE,MAAM,CAAC;IACpB,SAAS,CAAC,EAAE,MAAM,CAAC;CACpB;AAED,qBAAa,YAAa,YAAW,MAAM;IACzC,OAAO,CAAC,SAAS,CAAS;IAC1B,OAAO,CAAC,QAAQ,CAAS;IACzB,OAAO,CAAC,eAAe,CAAS;IAChC,OAAO,CAAC,SAAS,CAAS;gBAEd,OAAO,EAAE,mBAAmB;IAOxC,MAAM,IAAI,SAAS;IAOnB,SAAS,IAAI,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC;IAOnC,aAAa,IAAI,MAAM,EAAE;IAIxB,SAAS,IAAI,SAAS,CAAC,KAAK,CAAC;CA2D/B"}
+{"version":3,"file":"coco_panoptic.d.ts","sourceRoot":"","sources":["../../../../src/node/formats/coco_panoptic.ts"],"names":[],"mappings":"AAEA,OAAO,KAAK,EAAE,KAAK,EAAE,MAAM,EAAE,SAAS,EAAE,MAAM,oBAAoB,CAAC;AAqBnE,MAAM,WAAW,mBAAmB;IAClC,SAAS,EAAE,MAAM,CAAC;IAClB,QAAQ,EAAE,MAAM,CAAC;IACjB,WAAW,EAAE,MAAM,CAAC;IACpB,SAAS,CAAC,EAAE,MAAM,CAAC;CACpB;AAED,qBAAa,YAAa,YAAW,MAAM;IACzC,OAAO,CAAC,SAAS,CAAS;IAC1B,OAAO,CAAC,QAAQ,CAAS;IACzB,OAAO,CAAC,eAAe,CAAS;IAChC,OAAO,CAAC,SAAS,CAAS;gBAEd,OAAO,EAAE,mBAAmB;IAOxC,MAAM,IAAI,SAAS;IAOnB,SAAS,IAAI,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC;IAOnC,aAAa,IAAI,MAAM,EAAE;IAIxB,SAAS,IAAI,SAAS,CAAC,KAAK,CAAC;CA4D/B"}

package/dist/node/node/formats/coco_panoptic.js

@@ -74,6 +74,7 @@ class CocoPanoptic {
         }
         const raw = fs.readFileSync(this.annotationsPath, 'utf-8');
         const coco = JSON.parse(raw);
+        // Build lookup: image_id -> annotation
         const annByImage = new Map();
         for (const ann of coco.annotations ?? []) {
             annByImage.set(ann.image_id, ann);

package/dist/node/node/formats/coco_panoptic.js.map

@@ -1 +1 @@
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+{"version":3,"file":"coco_panoptic.js","sourceRoot":"","sources":["../../../../src/node/formats/coco_panoptic.ts"],"names":[],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;AAAA,uCAAyB;AACzB,2CAA6B;AA6B7B,MAAa,YAAY;IACf,SAAS,CAAS;IAClB,QAAQ,CAAS;IACjB,eAAe,CAAS;IACxB,SAAS,CAAS;IAE1B,YAAY,OAA4B;QACtC,IAAI,CAAC,SAAS,GAAG,OAAO,CAAC,SAAS,CAAC;QACnC,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC,QAAQ,CAAC;QACjC,IAAI,CAAC,eAAe,GAAG,OAAO,CAAC,WAAW,CAAC;QAC3C,IAAI,CAAC,SAAS,GAAG,OAAO,CAAC,SAAS,IAAI,GAAG,CAAC;IAC5C,CAAC;IAED,MAAM;QACJ,OAAO;YACL,KAAK,EAAE,QAAQ;YACf,IAAI,EAAE,QAAQ;SACf,CAAC;IACJ,CAAC;IAED,SAAS;QACP,OAAO;YACL,KAAK,EAAE,OAAO;YACd,IAAI,EAAE,cAAc;SACrB,CAAC;IACJ,CAAC;IAED,aAAa;QACX,OAAO,CAAC,OAAO,CAAC,CAAC;IACnB,CAAC;IAED,CAAC,SAAS;QACR,IAAI,CAAC,EAAE,CAAC,UAAU,CAAC,IAAI,CAAC,eAAe,CAAC,EAAE,CAAC;YACzC,MAAM,IAAI,KAAK,CAAC,+BAA+B,IAAI,CAAC,eAAe,EAAE,CAAC,CAAC;QACzE,CAAC;QACD,IAAI,CAAC,EAAE,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,WAAW,EAAE,EAAE,CAAC;YAC/C,MAAM,IAAI,KAAK,CAAC,+BAA+B,IAAI,CAAC,SAAS,EAAE,CAAC,CAAC;QACnE,CAAC;QACD,IAAI,CAAC,EAAE,CAAC,QAAQ,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC,WAAW,EAAE,EAAE,CAAC;YAC9C,MAAM,IAAI,KAAK,CAAC,8BAA8B,IAAI,CAAC,QAAQ,EAAE,CAAC,CAAC;QACjE,CAAC;QAED,MAAM,GAAG,GAAG,EAAE,CAAC,YAAY,CAAC,IAAI,CAAC,eAAe,EAAE,OAAO,CAAC,CAAC;QAC3D,MAAM,IAAI,GAAqB,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;QAE/C,uCAAuC;QACvC,MAAM,UAAU,GAAG,IAAI,GAAG,EAA0B,CAAC;QACrD,KAAK,MAAM,GAAG,IAAI,IAAI,CAAC,WAAW,IAAI,EAAE,EAAE,CAAC;YACzC,UAAU,CAAC,GAAG,CAAC,GAAG,CAAC,QAAQ,EAAE,GAAG,CAAC,CAAC;QACpC,CAAC;QAED,MAAM,cAAc,GAAG,IAAI,CAAC,SAAS,CAAC,IAAI,CAAC,UAAU,IAAI,EAAE,CAAC,CAAC;QAE7D,MAAM,KAAK,GAA8B,EAAE,CAAC;QAE5C,KAAK,MAAM,OAAO,IAAI,IAAI,CAAC,MAAM,IAAI,EAAE,EAAE,CAAC;YACxC,MAAM,OAAO,GAAG,OAAO,CAAC,EAAE,CAAC;YAC3B,MAAM,OAAO,GAAG,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,SAAS,EAAE,OAAO,CAAC,SAAS,CAAC,CAAC;YAE7D,IAAI,CAAC,EAAE,CAAC,UAAU,CAAC,OAAO,CAAC;gBAAE,SAAS;YAEtC,MAAM,GAAG,GAAG,UAAU,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;YACpC,IAAI,CAAC,GAAG;gBAAE,SAAS;YAEnB,MAAM,QAAQ,GAAG,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,QAAQ,EAAE,GAAG,CAAC,SAAS,CAAC,CAAC;YACzD,MAAM,SAAS,GAAG,EAAE,CAAC,UAAU,CAAC,QAAQ,CAAC;gBACvC,CAAC,CAAC,EAAE,CAAC,YAAY,CAAC,QAAQ,CAAC;gBAC3B,CAAC,CAAC,IAAI,CAAC;YAET,KAAK,CAAC,IAAI,CAAC;gBACT,aAAa,EAAE,OAAO;gBACtB,KAAK,EAAE,EAAE,CAAC,YAAY,CAAC,OAAO,CAAC;gBAC/B,IAAI,EAAE,SAAS;gBACf,KAAK,EAAE,OAAO,CAAC,KAAK,IAAI,CAAC;gBACzB,MAAM,EAAE,OAAO,CAAC,MAAM,IAAI,CAAC;gBAC3B,QAAQ,EAAE,OAAO,CAAC,SAAS;gBAC3B,aAAa,EAAE,GAAG,CAAC,SAAS;gBAC5B,aAAa,EAAE,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,aAAa,IAAI,EAAE,CAAC;gBACtD,UAAU,EAAE,cAAc;aAC3B,CAAC,CAAC;YAEH,IAAI,KAAK,CAAC,MAAM,IAAI,IAAI,CAAC,SAAS,EAAE,CAAC;gBACnC,MAAM,WAAW,CAAC,KAAK,CAAC,CAAC;gBACzB,KAAK,CAAC,MAAM,GAAG,CAAC,CAAC;YACnB,CAAC;QACH,CAAC;QAED,IAAI,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;YACrB,MAAM,WAAW,CAAC,KAAK,CAAC,CAAC;QAC3B,CAAC;IACH,CAAC;CACF;AA3FD,oCA2FC;AAED,SAAS,WAAW,CAAC,IAA+B;IAClD,MAAM,IAAI,GAAG,MAAM,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IAClC,MAAM,MAAM,GAAU,EAAE,CAAC;IACzB,KAAK,MAAM,GAAG,IAAI,IAAI,EAAE,CAAC;QACvB,MAAM,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IACxC,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC"}

package/dist/node/node/formats/lerobot.d.ts

@@ -1,7 +1,24 @@
+/**
+ * LeRobot dataset format classes for DeepLake managed ingestion.
+ *
+ * Implements the normalized 3-table design:
+ *   - LeRobotTasks:    task_index + task description (from tasks.jsonl)
+ *   - LeRobotEpisodes: episode metadata + 3 camera videos (from episodes.jsonl + mp4s)
+ *   - LeRobotFrames:   per-frame state/action scalars (from parquet files)
+ *
+ * LeRobotTasks and LeRobotEpisodes use only Node.js built-ins.
+ * LeRobotFrames requires an optional parquet reader (e.g. `parquetjs`).
+ */
 import type { Batch, Format, SchemaMap } from '../../shared/types';
 export interface LeRobotTasksOptions {
+    /** Root directory of the LeRobot dataset. */
     datasetDir: string;
 }
+/**
+ * Format for LeRobot tasks.jsonl — one row per task.
+ *
+ * Columns: task_index (int), task (string)
+ */
 export declare class LeRobotTasks implements Format {
     private tasksFile;
     constructor(options: LeRobotTasksOptions);
@@ -9,10 +26,23 @@ export declare class LeRobotTasks implements Format {
     normalize(): Generator<Batch>;
 }
 export interface LeRobotFramesOptions {
+    /** Root directory of the LeRobot dataset. */
     datasetDir: string;
+    /** First chunk index (inclusive, default 0). */
     chunkStart?: number;
+    /** Last chunk index (inclusive, default 10). */
     chunkEnd?: number;
 }
+/**
+ * Format for LeRobot parquet files — one row per frame with unpacked scalars.
+ *
+ * Reads parquet files for the specified chunk range and unpacks
+ * observation.state[8] and action[7] into individual float columns.
+ *
+ * Requires a parquet reader. Tries to use `@duckdb/node-bindings` first,
+ * then falls back to `parquetjs`. If neither is available, throws an error
+ * with installation instructions.
+ */
 export declare class LeRobotFrames implements Format {
     private datasetDir;
     private chunkStart;
@@ -22,10 +52,22 @@ export declare class LeRobotFrames implements Format {
     normalize(): Generator<Batch>;
 }
 export interface LeRobotEpisodesOptions {
+    /** Root directory of the LeRobot dataset. */
     datasetDir: string;
+    /** First chunk index (inclusive, default 0). */
     chunkStart?: number;
+    /** Last chunk index (inclusive, default 10). */
     chunkEnd?: number;
 }
+/**
+ * Format for LeRobot episodes — one row per episode with video data.
+ *
+ * Pulls video files lazily per-chunk via git-lfs to manage disk space.
+ * After processing each chunk's videos, restores LFS pointers.
+ *
+ * Columns: episode_index (int), task (str), length (int),
+ *          exterior_1_video (bytes), exterior_2_video (bytes), wrist_video (bytes)
+ */
 export declare class LeRobotEpisodes implements Format {
     private datasetDir;
     private chunkStart;

package/dist/node/node/formats/lerobot.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"lerobot.d.ts","sourceRoot":"","sources":["../../../../src/node/formats/lerobot.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;GAUG;AAMH,OAAO,KAAK,EAAE,KAAK,EAAE,MAAM,EAAE,SAAS,EAAE,MAAM,oBAAoB,CAAC;AAMnE,MAAM,WAAW,mBAAmB;IAClC,6CAA6C;IAC7C,UAAU,EAAE,MAAM,CAAC;CACpB;AAED;;;;GAIG;AACH,qBAAa,YAAa,YAAW,MAAM;IACzC,OAAO,CAAC,SAAS,CAAS;gBAEd,OAAO,EAAE,mBAAmB;IAIxC,MAAM,IAAI,SAAS;IAIlB,SAAS,IAAI,SAAS,CAAC,KAAK,CAAC;CA0B/B;AAkBD,MAAM,WAAW,oBAAoB;IACnC,6CAA6C;IAC7C,UAAU,EAAE,MAAM,CAAC;IACnB,gDAAgD;IAChD,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,gDAAgD;IAChD,QAAQ,CAAC,EAAE,MAAM,CAAC;CACnB;AAED;;;;;;;;;GASG;AACH,qBAAa,aAAc,YAAW,MAAM;IAC1C,OAAO,CAAC,UAAU,CAAS;IAC3B,OAAO,CAAC,UAAU,CAAS;IAC3B,OAAO,CAAC,QAAQ,CAAS;gBAEb,OAAO,EAAE,oBAAoB;IAMzC,MAAM,IAAI,SAAS;IAIlB,SAAS,IAAI,SAAS,CAAC,KAAK,CAAC;CAgE/B;AAeD,MAAM,WAAW,sBAAsB;IACrC,6CAA6C;IAC7C,UAAU,EAAE,MAAM,CAAC;IACnB,gDAAgD;IAChD,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,gDAAgD;IAChD,QAAQ,CAAC,EAAE,MAAM,CAAC;CACnB;AAED;;;;;;;;GAQG;AACH,qBAAa,eAAgB,YAAW,MAAM;IAC5C,OAAO,CAAC,UAAU,CAAS;IAC3B,OAAO,CAAC,UAAU,CAAS;IAC3B,OAAO,CAAC,QAAQ,CAAS;IACzB,OAAO,CAAC,MAAM,CAAsB;IACpC,OAAO,CAAC,SAAS,CAAuC;gBAE5C,OAAO,EAAE,sBAAsB;IA8B3C,MAAM,IAAI,SAAS;IAQnB,SAAS,IAAI,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC;IAQlC,SAAS,IAAI,SAAS,CAAC,KAAK,CAAC;IAyF9B,OAAO,CAAC,gBAAgB;IAiBxB,OAAO,CAAC,qBAAqB;CAmC9B"}

package/dist/node/node/formats/lerobot.js

@@ -1,4 +1,15 @@
 "use strict";
+/**
+ * LeRobot dataset format classes for DeepLake managed ingestion.
+ *
+ * Implements the normalized 3-table design:
+ *   - LeRobotTasks:    task_index + task description (from tasks.jsonl)
+ *   - LeRobotEpisodes: episode metadata + 3 camera videos (from episodes.jsonl + mp4s)
+ *   - LeRobotFrames:   per-frame state/action scalars (from parquet files)
+ *
+ * LeRobotTasks and LeRobotEpisodes use only Node.js built-ins.
+ * LeRobotFrames requires an optional parquet reader (e.g. `parquetjs`).
+ */
 var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
     if (k2 === undefined) k2 = k;
     var desc = Object.getOwnPropertyDescriptor(m, k);
@@ -37,6 +48,11 @@ exports.LeRobotEpisodes = exports.LeRobotFrames = exports.LeRobotTasks = void 0;
 const fs = __importStar(require("fs"));
 const path = __importStar(require("path"));
 const child_process_1 = require("child_process");
+/**
+ * Format for LeRobot tasks.jsonl — one row per task.
+ *
+ * Columns: task_index (int), task (string)
+ */
 class LeRobotTasks {
     tasksFile;
     constructor(options) {
@@ -82,6 +98,16 @@ const ACTION_NAMES = [
     'action_roll', 'action_pitch', 'action_yaw',
     'action_gripper',
 ];
+/**
+ * Format for LeRobot parquet files — one row per frame with unpacked scalars.
+ *
+ * Reads parquet files for the specified chunk range and unpacks
+ * observation.state[8] and action[7] into individual float columns.
+ *
+ * Requires a parquet reader. Tries to use `@duckdb/node-bindings` first,
+ * then falls back to `parquetjs`. If neither is available, throws an error
+ * with installation instructions.
+ */
 class LeRobotFrames {
     datasetDir;
     chunkStart;
@@ -122,10 +148,12 @@ class LeRobotFrames {
                     batch['frame_index'].push(row.frame_index);
                     batch['task_index'].push(row.task_index);
                     batch['timestamp'].push(row.timestamp);
+                    // Unpack observation.state[8]
                     const state = row['observation.state'] ?? [];
                     for (let i = 0; i < STATE_NAMES.length; i++) {
                         batch[STATE_NAMES[i]].push(state[i] ?? 0);
                     }
+                    // Unpack action[7]
                     const action = row['action'] ?? [];
                     for (let i = 0; i < ACTION_NAMES.length; i++) {
                         batch[ACTION_NAMES[i]].push(action[i] ?? 0);
@@ -158,6 +186,15 @@ const VIDEO_KEYS = [
 ];
 const COL_NAMES = ['exterior_1_video', 'exterior_2_video', 'wrist_video'];
 const EPISODE_COLUMNS = ['episode_index', 'task', 'length', ...COL_NAMES];
+/**
+ * Format for LeRobot episodes — one row per episode with video data.
+ *
+ * Pulls video files lazily per-chunk via git-lfs to manage disk space.
+ * After processing each chunk's videos, restores LFS pointers.
+ *
+ * Columns: episode_index (int), task (str), length (int),
+ *          exterior_1_video (bytes), exterior_2_video (bytes), wrist_video (bytes)
+ */
 class LeRobotEpisodes {
     datasetDir;
     chunkStart;
@@ -168,6 +205,7 @@ class LeRobotEpisodes {
         this.datasetDir = options.datasetDir;
         this.chunkStart = options.chunkStart ?? 0;
         this.chunkEnd = options.chunkEnd ?? 10;
+        // Load tasks for denormalization
         const tasksFile = path.join(this.datasetDir, 'meta', 'tasks.jsonl');
         this._tasks = new Map();
         if (fs.existsSync(tasksFile)) {
@@ -179,6 +217,7 @@ class LeRobotEpisodes {
                 this._tasks.set(rec.task_index, rec.task);
             }
         }
+        // Load episodes metadata
         const episodesFile = path.join(this.datasetDir, 'meta', 'episodes.jsonl');
         this._episodes = new Map();
         if (fs.existsSync(episodesFile)) {
@@ -208,10 +247,12 @@ class LeRobotEpisodes {
     *normalize() {
         for (let chunkIdx = this.chunkStart; chunkIdx <= this.chunkEnd; chunkIdx++) {
             const chunk = `chunk-${String(chunkIdx).padStart(3, '0')}`;
+            // Pull this chunk's videos
             this._pullChunkVideos(chunkIdx);
             const chunkDir = path.join(this.datasetDir, 'videos', chunk);
             if (!fs.existsSync(chunkDir))
                 continue;
+            // Find episodes from the first camera dir
             const firstCam = path.join(chunkDir, VIDEO_KEYS[0]);
             if (!fs.existsSync(firstCam))
                 continue;
@@ -233,8 +274,10 @@ class LeRobotEpisodes {
                 const epMeta = this._episodes.get(epIdx);
                 if (!epMeta)
                     continue;
+                // Read task text
                 const taskList = epMeta.tasks ?? [];
                 const taskText = taskList.filter(Boolean).join('; ');
+                // Read all 3 camera videos
                 const videos = [];
                 let skip = false;
                 for (const vkey of VIDEO_KEYS) {
@@ -245,6 +288,7 @@ class LeRobotEpisodes {
                     }
                     const stat = fs.statSync(vpath);
                     if (stat.size < 200) {
+                        // Still an LFS pointer, not real data
                         skip = true;
                         break;
                     }
@@ -260,14 +304,17 @@ class LeRobotEpisodes {
                 }
                 if (batch.episode_index.length >= 50) {
                     yield batch;
+                    // Reset using known columns only.
                     for (const key of EPISODE_COLUMNS) {
                         batch[key] = [];
                     }
                 }
             }
+            // Yield remaining
             if (batch.episode_index.length > 0) {
                 yield batch;
             }
+            // Free disk: restore LFS pointers
             this._restoreChunkPointers(chunkIdx);
         }
     }
@@ -281,7 +328,7 @@ class LeRobotEpisodes {
             });
         }
         catch {
-            // Non-fatal
+            // Non-fatal — may not be a git-lfs repo
         }
     }
     _restoreChunkPointers(chunkIdx) {
@@ -322,14 +369,25 @@ exports.LeRobotEpisodes = LeRobotEpisodes;
 // =====================================================================
 // Parquet reading helper
 // =====================================================================
+/**
+ * Read a parquet file and return rows as plain objects.
+ * Tries `parquetjs` (pure JS). Returns null if no reader is available.
+ */
 function readParquetFile(filePath) {
+    // Try parquetjs (synchronous via parquet-wasm or similar)
+    // For now, use a simple approach: try to require parquetjs-lite
+    // which provides a synchronous reader
     try {
+        // Dynamic require to avoid hard dependency
         const { ParquetReader } = require('parquetjs-lite');
+        // parquetjs is async-only, so we use a sync wrapper approach
+        // This is a simplified fallback — real usage should use the async API
         throw new Error('parquetjs requires async reading — use LeRobotFrames with async normalize');
     }
     catch {
         // No parquet reader available
     }
+    // Fallback: try reading with duckdb CLI if available
     try {
         const result = (0, child_process_1.execFileSync)('duckdb', ['-json', '-c', `SELECT * FROM read_parquet('${filePath}')`], { timeout: 30_000, stdio: ['pipe', 'pipe', 'pipe'], maxBuffer: 100 * 1024 * 1024 });
         return JSON.parse(result.toString('utf-8'));
@@ -337,6 +395,7 @@ function readParquetFile(filePath) {
     catch {
         // duckdb not available
     }
+    // Fallback: try python one-liner
     try {
         const pyScript = `import pandas,json,sys;df=pandas.read_parquet("${filePath}");print(json.dumps([{k:v if not hasattr(v,'tolist') else v.tolist() for k,v in r.items()} for _,r in df.iterrows()]))`;
         const result = (0, child_process_1.execFileSync)('python3', ['-c', pyScript], { timeout: 30_000, stdio: ['pipe', 'pipe', 'pipe'], maxBuffer: 100 * 1024 * 1024 });